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MSP frame for braking settings

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2018-06-13 15:45:27 +02:00
parent aad6cedaa9
commit 46ff1e31e6
2 changed files with 24 additions and 0 deletions
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22
src/main/fc/fc_msp.c
View file

@ -1365,6 +1365,17 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, timerHardware[i].usageFlags);
break;
case MSP2_INAV_MC_BRAKING:
sbufWriteU16(dst, navConfig()->mc.braking_speed_threshold);
sbufWriteU16(dst, navConfig()->mc.braking_disengage_speed);
sbufWriteU16(dst, navConfig()->mc.braking_timeout);
sbufWriteU8(dst, navConfig()->mc.braking_boost_factor);
sbufWriteU16(dst, navConfig()->mc.braking_boost_timeout);
sbufWriteU16(dst, navConfig()->mc.braking_boost_speed_threshold);
sbufWriteU16(dst, navConfig()->mc.braking_boost_disengage_speed);
sbufWriteU8(dst, navConfig()->mc.braking_bank_angle);
break;
default:
return false;
}
@ -2517,6 +2528,17 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
break;
#endif
case MSP2_INAV_SET_MC_BRAKING:
navConfigMutable()->mc.braking_speed_threshold = sbufReadU16(src);
navConfigMutable()->mc.braking_disengage_speed = sbufReadU16(src);
navConfigMutable()->mc.braking_timeout = sbufReadU16(src);
navConfigMutable()->mc.braking_boost_factor = sbufReadU8(src);
navConfigMutable()->mc.braking_boost_timeout = sbufReadU16(src);
navConfigMutable()->mc.braking_boost_speed_threshold = sbufReadU16(src);
navConfigMutable()->mc.braking_boost_disengage_speed = sbufReadU16(src);
navConfigMutable()->mc.braking_bank_angle = sbufReadU8(src);
break;
default:
return MSP_RESULT_ERROR;
}

2
src/main/msp/msp_protocol_v2_inav.h
View file

@ -29,6 +29,8 @@
#define MSP2_INAV_SET_RATE_PROFILE 0x2008
#define MSP2_INAV_AIR_SPEED 0x2009
#define MSP2_INAV_OUTPUT_MAPPING 0x200A
#define MSP2_INAV_MC_BRAKING 0x200B
#define MSP2_INAV_SET_MC_BRAKING 0x200C
#define MSP2_INAV_MIXER 0x2010
#define MSP2_INAV_SET_MIXER 0x2011